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A framework for analysis of observer-based ILC

✍ Scribed by Johanna Wallén; Mikael Norrlöf; Svante Gunnarsson

Publisher
John Wiley and Sons
Year
2010
Tongue
English
Weight
272 KB
Volume
13
Category
Article
ISSN
1561-8625

No coin nor oath required. For personal study only.

✦ Synopsis

Abstract

A framework for iterative learning control (ILC) is proposed for the situation when an ILC algorithm uses an estimate of the controlled variable obtained from an observer‐based estimation procedure. Assuming that the ILC input converges to a bounded signal, a general expression for the asymptotic error of the controlled variable is given. The asymptotic error is exemplified by an ILC algorithm applied to a flexible two‐mass model of a robot joint.

Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

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